EP1170987B1 - Procede et appareil permettant de reconnaitre et de determiner une position et robot comprenant cet appareil - Google Patents

Procede et appareil permettant de reconnaitre et de determiner une position et robot comprenant cet appareil Download PDF

Info

Publication number
EP1170987B1
EP1170987B1 EP00925800A EP00925800A EP1170987B1 EP 1170987 B1 EP1170987 B1 EP 1170987B1 EP 00925800 A EP00925800 A EP 00925800A EP 00925800 A EP00925800 A EP 00925800A EP 1170987 B1 EP1170987 B1 EP 1170987B1
Authority
EP
European Patent Office
Prior art keywords
teat
teats
animal
scanning head
scanning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP00925800A
Other languages
German (de)
English (en)
Other versions
EP1170987A1 (fr
Inventor
Mats Nilsson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
DeLaval Holding AB
Original Assignee
DeLaval Holding AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by DeLaval Holding AB filed Critical DeLaval Holding AB
Publication of EP1170987A1 publication Critical patent/EP1170987A1/fr
Application granted granted Critical
Publication of EP1170987B1 publication Critical patent/EP1170987B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/017—Automatic attaching or detaching of clusters
    • A01J5/0175—Attaching of clusters
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing

Definitions

  • This invention concerns a method and an apparatus for recognising and determining the position of at least one teat of a milking animal in accordance with the preambles of claim 1 and 8 respectively.
  • the invention also concerns a robot including such an apparatus.
  • teat positions vary depending on varying milk productivity and time period passing between the visits to the milking robot.
  • the actual teat position is constantly checked and the position values are amended on the basis of deviations with respect to previous positions.
  • the position of the teats of an animal, which is to be milked for the first time is recorded by the teat cups being moved by hand to the teats of the udder and fixed thereon. The positions are recorded in various memories.
  • the present images are compared with stored values so as to determine possible changes in position.
  • the stored values are replaced with new image values.
  • WO96/20587 suffers from the drawback that new animals have to be introduced into the system by manual recording by the farmer of the positions for the teat or teats. This is a time-consuming procedure, which is detrimental for the over all economy of the milk production at the farm. Further, although the prior art system takes account of minor position changes of the teats, it presupposes relatively stable fixing of the animal as much as possible in the same position as the original one in order to be reliable. Major changes of the position of the cow, and in particular of the teats, result in risk of failure to detect the positions of the teats. WO96/20587 speculates in determining the initial position by other methods than the manual method described in that document. The document is however, silent about how to carry out such alternative methods.
  • the inventive system has the capability of recognising and determining teat positions for practically all relevant milking animals, almost irrespective of where the udder is located on the animal.
  • the recognising sequence may be shortened in an advantageous way with respect to later milking operations.
  • the system is preferably adapted to start over again using an initial position according to the above, which is adapted to investigate all new relevant animals.
  • the invention also comprises a milking robot including the conventional means for carrying the scanning head, a drive means therefore, teat cup arrangements, means for handling milk and other fluids such as disinfectants, and a control unit capable of controlling the operation of the robot.
  • Figure 1 shows a detail of a cow, which is in a milking position and is about to be introduced into a system according to the invention.
  • a scanning head 1 is initially moved by a milking robot arm or the like to a fixed position A under the cow. This position A is chosen such that it is safely in front of all udders of all known cows that might be subject to investigation by an apparatus according to the invention.
  • the scanning head emits a sheet of light 2, preferably laser light, which is in an angular form having an included angle of, as an example, 90°.
  • an image capturing means such as a camera, which is arranged below the light source, and is adapted to capture an image of an illuminated teat.
  • the scanning head 1 is moved upwards until it touches the cow or in any other way senses that it has reached a position where it is obstructed from further upwards movement. It has, however, to be ensured that the upwards movement is not terminated by pushing the cow in a way that it becomes disturbed.
  • the sheet of light illuminates objects in its direction during a first scan when moving from a downward position A upwards until contact with the cow is sensed.
  • the scanning head is then moved downwards and backwards (as seen in the direction of the cow) to the position B, from where it is again moved upwards during scanning.
  • This sequence is repeated in steps B, C, D until it has been established that an item, which appear to be a teat or teats has or have been detected.
  • step D the lower tip of the teat 11, the front right teat, is illuminated by the laser source and accordingly is captured by the camera as a line.
  • the scanning head thus is moved in further steps backwards so as to allow the system to evaluate that the item is in deed a teat.
  • a teat for example distinguished from the legs or the tail.
  • the results from the scanning sequence is stored in a memory and linked to the specific cow, which in a known manner is identified by for example a readable identification tag. This allows the sequence for subsequent visits to the milking location of this specific cow to be shortened and be carried out starting from for example a position between C and D allowing shorter scanning time.
  • Fig. 2a shows the captured teats in the form of discrete captured image lines. More specifically, this figure comprises five images obtained in one scan. Each scan may generate 1 - n pictures.
  • the system is capable of determining that the (here black) image lines included inside the teat images (indicated with dotted lines 11', 11'', 12', 12") are in deed describing teats having lower extreme points, whereas lines 13 and 14 relate to legs without such lower extreme points and 15 to the tail. Compare with fig. 2b, which shows the "real image" behind fig. 2a.
  • 21 concerns moving a scanning head including a light source to a fixed initial position in the room which is under the animal and clearly in front of an udder and thereby the teats of all known relevant animals.
  • 22 concerns scanning backwards and moving the scanning head upwards towards the animal while carrying out the scanning procedure including emitting at least one bundle of light from said light source into said region so as to illuminate the teat or teats.
  • 23 concerns capturing at least one image formed by said light.
  • 24 concerns evaluating the image or images so as to determine if each image describes the teat or teats by comparing the image obtained during one step with corresponding images obtained in previous step or steps until the position of at least a first teat has been established.
  • the sequence 22 - 24 is repeated until it has been established that said teat or teats is described by the image or images, determining the position of the teat or teats.
  • the same or slightly modified sequence is utilised to detect also the rest of the teats.
  • a signal is provided for guiding teat cups to the determined positions.
  • the apparatus in figure 4 includes a scanning head comprising a light source such as a laser 3 being arranged to emit a sheet shaped bundle of light 2, which is directed substantially horizontally. Inside the scanning head there is also provided an image-capturing camera 4.
  • a scanning head comprising a light source such as a laser 3 being arranged to emit a sheet shaped bundle of light 2, which is directed substantially horizontally.
  • an image-capturing camera 4 Inside the scanning head there is also provided an image-capturing camera 4.
  • a control unit 5 receives the image signals from the camera and is also adapted to control the operation of the light source and of the camera.
  • the control unit 5 receives data from a memory 6, and is also adapted to update the information, which is stored in the memory 6.
  • the control unit also communicates with an animal identity detector 7, which is arranged to detect information relating to the specific animal, when it enters the milking area.
  • This information used to collect the relevant data from the memory so as to allow the control unit to use the adequate scanning sequence with respect to the cow to be milked.
  • the data concerned is the data obtained in the initial recognition sequence which is used during subsequent milking operations. However, preferably the data are updated continuously so as to deal with altered udder configurations occurring at instances, more or less for all cows.
  • control unit controls the movement of the scanning head by transmitting signals to a drive mechanism 8, which is arranged to move a robot arm 9, which in turn carries the scanning head 1.
  • the method and the apparatus may be modified within the scope of the claims.
  • the light source and camera arrangement may be different, i. e. the nature of the light and the type of camera.
  • the mechanism for moving the scanning head may be different. The steps may be longer at the beginning of the scanning sequence and shorter closer to the udder.
  • the arrangement for recognising the upper position of the scanning head and immediately stopping it when it touches the animal may be a sensor on the head itself or a sensor related to the carrier arm or to the drive mechanism.

Claims (14)

  1. Procédé pour reconnaítre et déterminer la position d'au moins une tétine d'un animal producteur de lait, comportant les étapes :
    de déplacement d'une tête de balayage (1) comportant une source de lumière (3) vers une région (A) contenant la tétine ou les tétines (11, 12),
    d'émission d'au moins un faisceau de lumière (2) à partir de ladite source de lumière dans ladite région de manière à éclairer ladite tétine ou lesdites tétines,
    de saisie d'au moins une image formée par ladite lumière,
    d'évaluation de l'image ou des images de manière à déterminer si chaque image décrit ladite tétine ou lesdites tétines,
    dans l'éventualité où il est établi que ladite tétine ou lesdites tétines est (sont) décrite(s) par l'image ou les images, de détermination de la position de ladite tétine ou desdites tétines et de fourniture d'une information de signal pour guider un trayon vers cette position, caractérisé par :
    le déplacement de la tête de balayage vers une position initiale fixe (A) dans l'espace qui est sous l'animal et clairement en face d'une mamelle (10), et à la suite de cela, des tétines (11, 12) de tous les animaux concernés connus,
    balayage vers l'arrière et déplacement de la tête de balayage au cours d'étapes déterminées (A - J) sous l'animal : vers le haut vers l'animal, vers le bas, en arrière vers la mamelle, vers le haut, vers le bas etc., tout en exécutant la procédure de balayage,
       dans lequel l'étape d'évaluation comporte une comparaison des images obtenues au cours d'une étape avec des images correspondantes obtenues au cours de l'étape ou des étapes précédente(s), jusqu'à ce que la position d'au moins une première tétine ait été établie, et
       dans lequel les valeurs de positions obtenues sont stockées et mises en relation avec l'animal étudié, et avant les opérations de reconnaissance suivantes par rapport à cet animal, la tête de balayage (1) démarre à partir d'une position tenant compte de l'information stockée.
  2. Procédé selon la revendication 1, dans lequel le faisceau de lumière (2) est dirigé de manière sensiblement horizontale.
  3. Procédé selon la revendication 1 ou 2, dans lequel la position de chaque tétine suivante est déterminée en utilisant la position déjà établie pour chaque tétine ou chacune des tétines.
  4. Procédé selon l'une quelconque des revendications précédentes, dans lequel la source de lumière (2) est une source laser.
  5. Procédé selon l'une quelconque des revendications précédentes, dans lequel les valeurs de positions sont mises à jour au cours d'opérations de reconnaissance suivantes.
  6. Procédé selon l'une quelconque des revendications précédentes, dans lequel, dans l'éventualité où la tétine ou les tétines n'est (ne sont) pas trouvée(s) au cours d'une séquence raccourcie dans une période de temps prédéterminée, la tête de balayage est déplacée vers la position initiale (A) pour effectuer une séquence complète de balayage.
  7. Procédé selon l'une quelconque des revendications précédentes, dans lequel les différentes images sont comparées par rapport à la présence d'éléments ayant un point extrême inférieur au même niveau horizontal sur deux images ou davantage.
  8. Appareil pour reconnaítre et déterminer la position d'au moins une tétine d'un animal producteur de lait, comportant :
    une tête de balayage (1) comportant une source de lumière (3) pour émettre au moins un faisceau de lumière (2) dans une région qui est supposée contenir une tétine ou des tétines (11, 12),
    un moyen pour saisir au moins une image formée par ladite lumière,
    un moyen pour évaluer l'image ou les images de manière à déterminer si chaque image décrit ladite tétine ou lesdites tétines,
    un moyen pour déterminer la position de ladite tétine ou desdites tétines dans l'éventualité où il est établi que ladite tétine ou lesdites tétines est (sont) décrite(s) par l'image ou les images, et un moyen pour fournir une information de signal pour guider un trayon vers cette position, caractérisé en ce que :
    la tête de balayage (1) est agencée pour être déplacée vers une position initiale fixe (A) dans l'espace qui est sous l'animal et clairement en face d'une mamelle (10) et à la suite de cela, des tétines (11, 12) de tous les animaux concernés connus,
    la tête de balayage (1) est agencée pour balayer vers l'arrière et au cours d'étapes déterminées sous l'animal : vers le haut vers l'animal, vers le bas, en arrière vers la mamelle, vers le haut, vers le bas etc. (A - J), tout en exécutant la procédure de balayage, des moyens étant agencés pour comparer les images obtenues au cours d'une étape avec des images correspondantes obtenues au cours de l'étape ou des étapes précédente(s), jusqu'à ce que la position d'au moins une première tétine ait été établie, et
       dans lequel une mémoire (6) est agencée pour stocker les valeurs de positions obtenues et les mettre en relation avec l'animal étudié, et dans lequel la tête de balayage est agencée pour démarrer à partir d'une position tenant compte de l'information stockée depuis les opérations de reconnaissance précédentes par rapport à cet animal.
  9. Appareil selon la revendication 8, dans lequel la tête de balayage (1) est agencée pour diriger le faisceau de lumière de manière sensiblement horizontale.
  10. Appareil selon la revendication 8 ou 9, dans lequel la source de lumière (3) est une source laser.
  11. Appareil selon l'une quelconque des revendications 8 - 10, dans lequel la mémoire (6) est agencée pour mettre à jour les valeurs de positions au cours d'opérations de reconnaissance ultérieures.
  12. Appareil selon l'une quelconque des revendications 8 -11, caractérisé par un moyen pour déplacer la tête de balayage vers la position initiale (A) pour effectuer une séquence complète de balayage dans l'éventualité où la tétine ou les tétines n'est (ne sont) pas trouvée(s) au cours d'une séquence raccourcie dans une période de temps prédéterminée.
  13. Appareil selon l'une quelconque des revendications 8 - 12, dans lequel des moyens sont agencés pour comparer les différentes images par rapport à la présence d'éléments ayant un point extrême inférieur.
  14. Robot de traite comportant un appareil selon l'une quelconque des revendications 8 - 13.
EP00925800A 1999-04-19 2000-04-05 Procede et appareil permettant de reconnaitre et de determiner une position et robot comprenant cet appareil Expired - Lifetime EP1170987B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SE9901385 1999-04-19
SE9901385A SE522443C2 (sv) 1999-04-19 1999-04-19 Förfarande och anordning för igenkänning och bestämning av en position och en robot inkluderande en sådan anordning
PCT/SE2000/000652 WO2000062602A1 (fr) 1999-04-19 2000-04-05 Procede et appareil permettant de reconnaitre et de determiner une position et robot comprenant cet appareil

Publications (2)

Publication Number Publication Date
EP1170987A1 EP1170987A1 (fr) 2002-01-16
EP1170987B1 true EP1170987B1 (fr) 2004-03-17

Family

ID=20415261

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00925800A Expired - Lifetime EP1170987B1 (fr) 1999-04-19 2000-04-05 Procede et appareil permettant de reconnaitre et de determiner une position et robot comprenant cet appareil

Country Status (9)

Country Link
US (1) US6532892B1 (fr)
EP (1) EP1170987B1 (fr)
JP (1) JP2002542459A (fr)
AU (1) AU4443400A (fr)
CA (1) CA2369804C (fr)
DE (1) DE60009047T2 (fr)
IL (2) IL146037A0 (fr)
SE (1) SE522443C2 (fr)
WO (1) WO2000062602A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2701495B1 (fr) 2011-04-28 2017-12-20 Technologies Holdings Corp. Système de vision pour dispositif d'attachement robotique
EP3328188B1 (fr) 2015-07-28 2021-05-19 GEA Farm Technologies GmbH Procédé et dispositif pour installer automatiquement des gobelets trayeurs sur les trayons d'un animal laitier

Families Citing this family (46)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2550095T3 (es) * 2001-12-28 2015-11-04 Idento Electronics B.V. Método y aparato para la detección de tetillas
US6729262B2 (en) * 2002-10-04 2004-05-04 Innovative Automation, Inc. Live capture automated milking apparatus and method
GB0318733D0 (en) * 2003-08-11 2003-09-10 Icerobotics Ltd Improvements in or relating to milking machines
DK1520468T3 (da) 2003-09-30 2006-08-21 Lely Entpr Ag Indretning og fremgangsmåde til malkning af et malkedyr
NL1024522C2 (nl) * 2003-10-13 2005-04-14 Lely Entpr Ag Melkbekerdrager.
CA2626286C (fr) * 2005-10-24 2014-05-27 Delaval Holding Ab Dispositif et procede de detection visuelle dans un systeme de traite
CA3034793C (fr) 2006-03-15 2023-01-03 Gea Farm Technologies Gmbh Duree de deplacement de systeme de localisation de mamelle
SE530339C2 (sv) * 2006-07-13 2008-05-06 Delaval Holding Ab En apparat och förfarande för att igenkänna och bestämma en position
NL1034596C2 (nl) 2007-10-30 2009-05-06 Lely Patent Nv Werkwijze en inrichting voor het aankoppelen van een speenbeker.
DE102008035384A1 (de) * 2008-07-29 2010-02-04 Gea Westfaliasurge Gmbh Verfahren und Vorrichtung zum Ansetzen eines Melkbechers an eine Zitze eines Tieres
RU2551565C2 (ru) 2010-01-29 2015-05-27 Геа Хоул Инк. Вращающаяся доильная станция, комплект для ее монтажа и способы ее монтажа и эксплуатации
US9161511B2 (en) 2010-07-06 2015-10-20 Technologies Holdings Corp. Automated rotary milking system
US9149018B2 (en) 2010-08-31 2015-10-06 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary milking platform based on detection of a milking claw
US8720382B2 (en) 2010-08-31 2014-05-13 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US10111401B2 (en) 2010-08-31 2018-10-30 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary parlor
US8800487B2 (en) 2010-08-31 2014-08-12 Technologies Holdings Corp. System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform
US9161512B2 (en) 2011-04-28 2015-10-20 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US9058657B2 (en) 2011-04-28 2015-06-16 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
US9107378B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Milking box with robotic attacher
US8683946B2 (en) * 2011-04-28 2014-04-01 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US10127446B2 (en) 2011-04-28 2018-11-13 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9265227B2 (en) 2011-04-28 2016-02-23 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US8885891B2 (en) 2011-04-28 2014-11-11 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
US9215861B2 (en) 2011-04-28 2015-12-22 Technologies Holdings Corp. Milking box with robotic attacher and backplane for tracking movements of a dairy animal
US8903129B2 (en) 2011-04-28 2014-12-02 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US10357015B2 (en) 2011-04-28 2019-07-23 Technologies Holdings Corp. Robotic arm with double grabber and method of operation
US9049843B2 (en) 2011-04-28 2015-06-09 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
US9107379B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Arrangement of milking box stalls
US9681634B2 (en) 2011-04-28 2017-06-20 Technologies Holdings Corp. System and method to determine a teat position using edge detection in rear images of a livestock from two cameras
US9043988B2 (en) 2011-04-28 2015-06-02 Technologies Holdings Corp. Milking box with storage area for teat cups
US8746176B2 (en) 2011-04-28 2014-06-10 Technologies Holdings Corp. System and method of attaching a cup to a dairy animal according to a sequence
US9357744B2 (en) * 2011-04-28 2016-06-07 Technologies Holdings Corp. Cleaning system for a milking box stall
US9258975B2 (en) 2011-04-28 2016-02-16 Technologies Holdings Corp. Milking box with robotic attacher and vision system
AU2014230058B2 (en) * 2013-02-06 2016-10-20 Delaval Holding Ab Teat treatment method and apparatus
JP6154536B2 (ja) * 2013-03-13 2017-06-28 メデラ ホールディング アクチェンゲゼルシャフト 母乳の供給を管理するシステムおよび方法
US10477827B2 (en) 2016-08-17 2019-11-19 Technologies Holdings Corp. Vision system for teat detection
US10349613B2 (en) * 2016-08-17 2019-07-16 Technologies Holdings Corp. Vision system for teat detection
US10817970B2 (en) 2016-08-17 2020-10-27 Technologies Holdings Corp. Vision system with teat detection
US10499609B2 (en) * 2016-08-17 2019-12-10 Technologies Holdings Corp. Vision system for teat detection
US9936670B2 (en) * 2016-08-17 2018-04-10 Technologies Holdings Corp. Vision system with teat detection
US10558855B2 (en) * 2016-08-17 2020-02-11 Technologies Holdings Corp. Vision system with teat detection
US10499607B2 (en) 2016-08-17 2019-12-10 Technologies Holdings Corp. Vision system for teat detection
US10349615B2 (en) * 2016-08-17 2019-07-16 Technologies Holdings Corp. Vision system for teat detection
US9807971B1 (en) 2016-08-17 2017-11-07 Technologies Holdings Corp. Vision system with automatic teat detection
US10474791B2 (en) 2016-09-22 2019-11-12 Acumen Detection, Inc. Methods and systems for biometric identification of dairy animals using vein pattern recognition
US10653102B2 (en) * 2018-01-31 2020-05-19 Technologies Holdings Corp. Robotic arm

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE68928489T2 (de) 1988-01-08 1998-04-02 Prolion Bv Vorrichtung zum Positionieren eines Tieres, Terminal für ein automatisches Melksystem und Verfahren zum automatischen Melken eines Tieres
NL8802332A (nl) 1988-09-21 1990-04-17 Lely Nv C Van Der Inrichting voor het melken van een dier.
NL9401113A (nl) 1994-07-04 1996-02-01 Maasland Nv Constructie met een inrichting voor het automatisch melken van dieren.
NL9500006A (nl) 1995-01-02 1996-08-01 Gascoigne Melotte Bv Werkwijze en inrichting voor het positioneren van speenbekers.
DE19523676A1 (de) * 1995-07-03 1997-01-16 Duevelsdorf & Sohn Gmbh & Co K Verfahren zum Orten eines Objektes
SE9503792D0 (sv) * 1995-10-27 1995-10-27 Tetra Laval Holdings & Finance Teat location for milking
SE9503793D0 (sv) * 1995-10-27 1995-10-27 Tetra Laval Holdings & Finance An apparatus for moving an animal related means and a method therefor
SE9603054D0 (sv) * 1996-08-22 1996-08-22 Tetra Laval Holdings & Finance An arrangement for and a method of performing an animal-related action
SE9701547D0 (sv) 1997-04-23 1997-04-23 Alfa Laval Agri Ab Apparatus and method for recognising and determining the positon of a part of an animal
SE9702628D0 (sv) * 1997-07-07 1997-07-07 Alfa Laval Agri Ab An animal related apparatus
SE9704779D0 (sv) 1997-12-19 1997-12-19 Alfa Laval Agri Ab A device for gripping an animal related means

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2701495B1 (fr) 2011-04-28 2017-12-20 Technologies Holdings Corp. Système de vision pour dispositif d'attachement robotique
EP2701495B2 (fr) † 2011-04-28 2022-09-28 Technologies Holdings Corp. Système de vision pour dispositif d'attachement robotique
EP3328188B1 (fr) 2015-07-28 2021-05-19 GEA Farm Technologies GmbH Procédé et dispositif pour installer automatiquement des gobelets trayeurs sur les trayons d'un animal laitier

Also Published As

Publication number Publication date
WO2000062602A1 (fr) 2000-10-26
DE60009047D1 (de) 2004-04-22
EP1170987A1 (fr) 2002-01-16
IL146037A (en) 2007-02-11
CA2369804C (fr) 2008-01-29
US6532892B1 (en) 2003-03-18
AU4443400A (en) 2000-11-02
SE9901385D0 (sv) 1999-04-19
CA2369804A1 (fr) 2000-10-26
JP2002542459A (ja) 2002-12-10
IL146037A0 (en) 2002-07-25
SE522443C2 (sv) 2004-02-10
DE60009047T2 (de) 2004-10-21
SE9901385L (sv) 2000-10-20

Similar Documents

Publication Publication Date Title
EP1170987B1 (fr) Procede et appareil permettant de reconnaitre et de determiner une position et robot comprenant cet appareil
CA2626286C (fr) Dispositif et procede de detection visuelle dans un systeme de traite
EP0993655B1 (fr) Dispositif applicable a un animal
US8085988B2 (en) Apparatus and method for recognizing and determining a position
US5934220A (en) Teat location for milking
JP3919825B2 (ja) 動物の部位の位置を認識して決定するための装置と方法
EP1537775B1 (fr) Dispositif et méthode pour la traite des animaux
US9737040B2 (en) System and method for analyzing data captured by a three-dimensional camera
US8794181B2 (en) System and method for three dimensional teat modeling for use with a milking system
US6234109B1 (en) Apparatus and method for recognizing and determining the position of a part of an animal
US9510554B2 (en) System and method for improved attachment of a cup to a dairy animal
WO1998007311A1 (fr) Agencement et procede pour la mise en oeuvre d'une action relative a un animal
US9420756B2 (en) Modular manipulation device
EP1100313B1 (fr) Appareil permettant de realiser des operations liees a un animal
RU2011106596A (ru) Способ и устройство для установки доильного стакана на сосок животного
WO2000011940A1 (fr) Appareil et procede de surveillance de la surface associee a un animal
NL1034596C2 (nl) Werkwijze en inrichting voor het aankoppelen van een speenbeker.
KR102462163B1 (ko) 폐사체 감지 시스템
JP2000004703A (ja) 自動搾乳装置及びその乳頭位置検出方法

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20010927

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE FR GB IT NL SE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT;WARNING: LAPSES OF ITALIAN PATENTS WITH EFFECTIVE DATE BEFORE 2007 MAY HAVE OCCURRED AT ANY TIME BEFORE 2007. THE CORRECT EFFECTIVE DATE MAY BE DIFFERENT FROM THE ONE RECORDED.

Effective date: 20040317

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REF Corresponds to:

Ref document number: 60009047

Country of ref document: DE

Date of ref document: 20040422

Kind code of ref document: P

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20040617

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20040617

ET Fr: translation filed
PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20040617

26N No opposition filed

Effective date: 20041220

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20090423

Year of fee payment: 10

Ref country code: FR

Payment date: 20090417

Year of fee payment: 10

Ref country code: DE

Payment date: 20090429

Year of fee payment: 10

REG Reference to a national code

Ref country code: NL

Ref legal event code: V1

Effective date: 20101101

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20101230

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20101101

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20101103

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20100430